diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index efd7ce9f18..ea41e018aa 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -2054,6 +2054,13 @@ bool AP_GPS::is_healthy(uint8_t instance) const
         return false;
     }
 
+#ifdef HAL_BUILD_AP_PERIPH
+    /*
+      on AP_Periph handling of timing is done by the flight controller
+      receiving the DroneCAN messages
+     */
+    return drivers[instance] != nullptr && drivers[instance]->is_healthy();
+#else
     /*
       allow two lost frames before declaring the GPS unhealthy, but
       require the average frame rate to be close to 5Hz. We allow for
@@ -2075,6 +2082,7 @@ bool AP_GPS::is_healthy(uint8_t instance) const
 
     return delay_ok && drivers[instance] != nullptr &&
            drivers[instance]->is_healthy();
+#endif // HAL_BUILD_AP_PERIPH
 }
 
 bool AP_GPS::prepare_for_arming(void) {
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 831fbaba90..45de386f2e 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -224,6 +224,22 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_MB_Rover_uart2[] {
 };
 #endif // GPS_MOVING_BASELINE
 
+/*
+  config changes for M10
+  we need to use B1C not B1 signal for Beidou on M10 to allow solid 5Hz,
+  and also disable Glonass and enable QZSS
+ */
+const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_M10[] {
+ { ConfigKey::CFG_SIGNAL_BDS_ENA, 1},
+ { ConfigKey::CFG_SIGNAL_BDS_B1_ENA, 0},
+ { ConfigKey::CFG_SIGNAL_BDS_B1C_ENA, 1},
+ { ConfigKey::CFG_SIGNAL_GLO_ENA, 0},
+ { ConfigKey::CFG_SIGNAL_QZSS_ENA, 1},
+ { ConfigKey::CFG_SIGNAL_QZSS_L1CA_ENA, 1},
+ { ConfigKey::CFG_SIGNAL_QZSS_L1S_ENA, 1},
+ { ConfigKey::CFG_NAVSPG_DYNMODEL, 8}, // Air < 4g
+};
+
 
 void
 AP_GPS_UBLOX::_request_next_config(void)
@@ -406,6 +422,19 @@ AP_GPS_UBLOX::_request_next_config(void)
         _unconfigured_messages &= ~CONFIG_TIM_TM2;
 #endif
         break;
+
+
+    case STEP_M10: {
+        // special handling of M10 config
+        const config_list *list = config_M10;
+        const uint8_t list_length = ARRAY_SIZE(config_M10);
+        Debug("Sending M10 settings");
+        if (!_configure_config_set(list, list_length, CONFIG_M10, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) {
+            _next_message--;
+        }
+        break;
+    }
+        
     default:
         // this case should never be reached, do a full reset if it is hit
         _next_message = STEP_PVT;
@@ -1175,26 +1204,27 @@ AP_GPS_UBLOX::_parse_gps(void)
                     default:
                         break;
                 }
-#if GPS_MOVING_BASELINE
                 // see if it is in active config list
                 int8_t cfg_idx = find_active_config_index(id);
                 if (cfg_idx >= 0) {
                     const uint8_t key_size = config_key_size(id);
                     if (cfg_len < key_size ||
                         memcmp(&active_config.list[cfg_idx].value, cfg_data, key_size) != 0) {
-                        _configure_valset(id, &active_config.list[cfg_idx].value);
+                        _configure_valset(id, &active_config.list[cfg_idx].value, active_config.layers);
                         _unconfigured_messages |= active_config.unconfig_bit;
                         active_config.done_mask &= ~(1U << cfg_idx);
                         _cfg_needs_save = true;
                     } else {
                         active_config.done_mask |= (1U << cfg_idx);
+                        Debug("done %u mask=0x%x",
+                              unsigned(cfg_idx),
+                              unsigned(active_config.done_mask));
                         if (active_config.done_mask == (1U<<active_config.count)-1) {
                             // all done!
                             _unconfigured_messages &= ~active_config.unconfig_bit;
                         }
                     }
                 }
-#endif // GPS_MOVING_BASELINE
 
                 // step over the value
                 uint8_t step_size = config_key_size(id);
@@ -1245,8 +1275,13 @@ AP_GPS_UBLOX::_parse_gps(void)
                     _hardware_generation = UBLOX_M9;
                 }
             }
-            // none of the 9 series support the SOL message
-            _unconfigured_messages &= ~CONFIG_RATE_SOL;
+            // check for M10
+            if (strncmp(_version.hwVersion, "000A0000", 8) == 0) {
+                if (strncmp(_version.swVersion, "ROM SPG 5", 9) == 0) {
+                    _hardware_generation = UBLOX_M10;
+                    _unconfigured_messages |= CONFIG_M10;
+                }
+            }
             break;
         default:
             unexpected_message();
@@ -1722,10 +1757,10 @@ AP_GPS_UBLOX::_configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t
 }
 
 /*
- *  configure F9 based key/value pair - VALSET
+ *  configure F9/M10 based key/value pair - VALSET
  */
 bool
-AP_GPS_UBLOX::_configure_valset(ConfigKey key, const void *value)
+AP_GPS_UBLOX::_configure_valset(ConfigKey key, const void *value, uint8_t layers)
 {
     if (!supports_F9_config()) {
         return false;
@@ -1737,7 +1772,7 @@ AP_GPS_UBLOX::_configure_valset(ConfigKey key, const void *value)
         return false;
     }
     msg.version = 1;
-    msg.layers = 7; // all layers
+    msg.layers = layers;
     msg.transaction = 0;
     msg.key = uint32_t(key);
     memcpy(buf, &msg, sizeof(msg));
@@ -1772,13 +1807,13 @@ AP_GPS_UBLOX::_configure_valget(ConfigKey key)
  *  configure F9 based key/value pair for a complete config list
  */
 bool
-AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit)
+AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit, uint8_t layers)
 {
-#if GPS_MOVING_BASELINE
     active_config.list = list;
     active_config.count = count;
     active_config.done_mask = 0;
     active_config.unconfig_bit = unconfig_bit;
+    active_config.layers = layers;
 
     uint8_t buf[sizeof(ubx_cfg_valget)+count*sizeof(ConfigKey)];
     struct ubx_cfg_valget msg {};
@@ -1792,9 +1827,6 @@ AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint
         memcpy(&buf[sizeof(msg)+i*sizeof(ConfigKey)], &list[i].key, sizeof(ConfigKey));
     }
     return _send_message(CLASS_CFG, MSG_CFG_VALGET, buf, sizeof(buf));
-#else
-    return false;
-#endif
 }
 
 /*
@@ -1914,7 +1946,8 @@ static const char *reasons[] = {"navigation rate",
                                 "TIMEGPS rate",
                                 "Time mode settings",
                                 "RTK MB",
-                                "TIM TM2"};
+                                "TIM TM2",
+                                "M10"};
 
 static_assert((1 << ARRAY_SIZE(reasons)) == CONFIG_LAST, "UBLOX: Missing configuration description");
 
@@ -1953,6 +1986,7 @@ bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
         break;
     case UBLOX_F9:
     case UBLOX_M9:
+    case UBLOX_M10:
         // F9 lag not verified yet from flight log, but likely to be at least
         // as good as M8
         lag_sec = 0.12f;
@@ -2039,7 +2073,7 @@ bool AP_GPS_UBLOX::is_healthy(void) const
 // return true if GPS is capable of F9 config
 bool AP_GPS_UBLOX::supports_F9_config(void) const
 {
-    return _hardware_generation == UBLOX_F9 && _hardware_generation != UBLOX_UNKNOWN_HARDWARE_GENERATION;
+    return _hardware_generation == UBLOX_F9 || _hardware_generation == UBLOX_M10;
 }
 
 #endif
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index 872ec83243..6e8dc05901 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -97,7 +97,8 @@
 #define CONFIG_TMODE_MODE    (1<<16)
 #define CONFIG_RTK_MOVBASE   (1<<17)
 #define CONFIG_TIM_TM2       (1<<18)
-#define CONFIG_LAST          (1<<19) // this must always be the last bit
+#define CONFIG_M10           (1<<19)
+#define CONFIG_LAST          (1<<20) // this must always be the last bit
 
 #define CONFIG_REQUIRED_INITIAL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_VELNED)
 
@@ -281,7 +282,45 @@ private:
         MSGOUT_RTCM_3X_TYPE1127_UART2   = 0x209102d8,
         MSGOUT_RTCM_3X_TYPE1230_UART2   = 0x20910305,
         MSGOUT_UBX_NAV_RELPOSNED_UART2  = 0x2091008f,
+
+        // enable specific signals and constellations
+        CFG_SIGNAL_GPS_ENA              = 0x1031001f,
+        CFG_SIGNAL_GPS_L1CA_ENA         = 0x10310001,
+        CFG_SIGNAL_GPS_L2C_ENA          = 0x10310003,
+        CFG_SIGNAL_GPS_L5_ENA           = 0x10310004,
+        CFG_SIGNAL_SBAS_ENA             = 0x10310020,
+        CFG_SIGNAL_SBAS_L1CA_ENA        = 0x10310005,
+        CFG_SIGNAL_GAL_ENA              = 0x10310021,
+        CFG_SIGNAL_GAL_E1_ENA           = 0x10310007,
+        CFG_SIGNAL_GAL_E5A_ENA          = 0x10310009,
+        CFG_SIGNAL_GAL_E5B_ENA          = 0x1031000a,
+        CFG_SIGNAL_BDS_ENA              = 0x10310022,
+        CFG_SIGNAL_BDS_B1_ENA           = 0x1031000d,
+        CFG_SIGNAL_BDS_B1C_ENA          = 0x1031000f,
+        CFG_SIGNAL_BDS_B2_ENA           = 0x1031000e,
+        CFG_SIGNAL_BDS_B2A_ENA          = 0x10310028,
+        CFG_SIGNAL_QZSS_ENA             = 0x10310024,
+        CFG_SIGNAL_QZSS_L1CA_ENA        = 0x10310012,
+        CFG_SIGNAL_QZSS_L1S_ENA         = 0x10310014,
+        CFG_SIGNAL_QZSS_L2C_ENA         = 0x10310015,
+        CFG_SIGNAL_QZSS_L5_ENA          = 0x10310017,
+        CFG_SIGNAL_GLO_ENA              = 0x10310025,
+        CFG_SIGNAL_GLO_L1_ENA           = 0x10310018,
+        CFG_SIGNAL_GLO_L2_ENA           = 0x1031001a,
+        CFG_SIGNAL_NAVIC_ENA            = 0x10310026,
+        CFG_SIGNAL_NAVIC_L5_ENA         = 0x1031001d,
+
+        // other keys
+        CFG_NAVSPG_DYNMODEL             = 0x20110021,
+
     };
+
+    // layers for VALSET
+    #define UBX_VALSET_LAYER_RAM 0x1U
+    #define UBX_VALSET_LAYER_BBR 0x2U
+    #define UBX_VALSET_LAYER_FLASH 0x4U
+    #define UBX_VALSET_LAYER_ALL 0x7U
+
     struct PACKED ubx_cfg_valset {
         uint8_t version;
         uint8_t layers;
@@ -658,6 +697,7 @@ private:
         UBLOX_M8,
         UBLOX_F9 = 0x80, // comes from MON_VER hwVersion/swVersion strings
         UBLOX_M9 = 0x81, // comes from MON_VER hwVersion/swVersion strings
+        UBLOX_M10 = 0x82,
         UBLOX_UNKNOWN_HARDWARE_GENERATION = 0xff // not in the ublox spec used for
                                                  // flagging state in the driver
     };
@@ -685,6 +725,7 @@ private:
         STEP_VERSION,
         STEP_RTK_MOVBASE, // setup moving baseline
         STEP_TIM_TM2,
+        STEP_M10,
         STEP_LAST
     };
 
@@ -740,7 +781,7 @@ private:
     bool havePvtMsg;
 
     bool        _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
-    bool        _configure_valset(ConfigKey key, const void *value);
+    bool        _configure_valset(ConfigKey key, const void *value, uint8_t layers=UBX_VALSET_LAYER_ALL);
     bool        _configure_valget(ConfigKey key);
     void        _configure_rate(void);
     void        _configure_sbas(bool enable);
@@ -782,7 +823,7 @@ private:
 
     // configure a set of config key/value pairs. The unconfig_bit corresponds to
     // a bit in _unconfigured_messages
-    bool _configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit);
+    bool _configure_config_set(const config_list *list, uint8_t count, uint32_t unconfig_bit, uint8_t layers=UBX_VALSET_LAYER_ALL);
 
     // find index in active_config list
     int8_t find_active_config_index(ConfigKey key) const;
@@ -796,6 +837,15 @@ private:
     void set_pps_desired_freq(uint8_t freq) override;
 #endif
 
+    // status of active configuration for a role
+    struct {
+        const config_list *list;
+        uint8_t count;
+        uint32_t done_mask;
+        uint32_t unconfig_bit;
+        uint8_t layers;
+    } active_config;
+
 #if GPS_MOVING_BASELINE
     // config for moving baseline base
     static const config_list config_MB_Base_uart1[];
@@ -805,17 +855,11 @@ private:
     static const config_list config_MB_Rover_uart1[];
     static const config_list config_MB_Rover_uart2[];
 
-    // status of active configuration for a role
-    struct {
-        const config_list *list;
-        uint8_t count;
-        uint32_t done_mask;
-        uint32_t unconfig_bit;
-    } active_config;
-
     // RTCM3 parser for when in moving baseline base mode
     RTCM3_Parser *rtcm3_parser;
 #endif // GPS_MOVING_BASELINE
+
+    static const config_list config_M10[];
 };
 
 #endif